Active shaping of a tensegrity robot via pre-pressure
文献类型：会议论文
| 作者 | Hirai, Shinichi; Koizumi, Yuusuke; Shibata, Mizuho; Wang MH(王明辉) ; Li B(李斌)
|
| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 |
| 会议日期 | July 9-12, 2013 |
| 会议地点 | Wollongong, NSW, Australia |
| 关键词 | Pneumatic actuators Pneumatic equipment Robots |
| 页码 | 19-25 |
| 中文摘要 | This paper describes active shaping of a tensegrity robot by pre-pressure applied to pneumatic actuators that drive the robot. The pre-pressure helps to reduce unevenness of deformation properties of pneumatic actuators. We experimentally examined if transitions among contacts can be performed under pre-pressure using our prototype of a six-strut tensegrity robot. Based on the experimental results, we have found that all transitions between two neighboring contacts can be performed by activating one of twelve actuator pairs. © 2013 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 3 |
| 会议主办者 | IEEE RAS; IEEE IES; ASME; DSC; University of Wollongong |
| 会议录 | 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, United States |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-5319-9 |
| WOS记录号 | WOS:000328705300004 |
| 源URL | [http://ir.sia.cn/handle/173321/13900]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Hirai, Shinichi,Koizumi, Yuusuke,Shibata, Mizuho,et al. Active shaping of a tensegrity robot via pre-pressure[C]. 见:2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. Wollongong, NSW, Australia. July 9-12, 2013. |
入库方式： OAI收割
来源：沈阳自动化研究所
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